Noetic Gazebo

[rtarun1]

Brief

Both and humble and iron images have a gazebo variant, noetic does not

There should be a noetic-<gazebo_version> image made available for easy of use

The Gazebo version is yet to be decided, but one thing to take into consideration is that the Husky Team(at IIITH) using the base Noetic image requested the below:

Husky uses Gazebo classic 11.15, we might need a gazebo image for it. Refer husky simulation

[rtarun1]

@soham2560 I would say, lets not go down this path. Because, I feel like instead of working on EOL - ROS and Gazebo versions, which will be very hard to scale. I would suggest we start migrating to Gazebo Harmonic, which will be useful for a lot of projects as gazebo garden is also EOL. Shall I create a issue for Harmonic?

[soham2560]

Makes sense, but I believe noetic is not compatible with harmonic, refer here, maybe we should go for citadel?

and no need to create new issue since this one is in general for adding gazebo to noetic

[soham2560]

And regarding ROS EOL, I think we should support at least one ROS1 version, for legacy reasons, as there are loads of people that haven't transitioned to ROS2. Lets start up an issue for ROS2 Jazzy as thats the latest LTS, we will add gazebo post that

Edit: Added issue at #13

[rtarun1]

Makes sense, but I believe noetic is not compatible with harmonic, refer here, maybe we should go for citadel?

and no need to create new issue since this one is in general for adding gazebo to noetic

I should have been more clear, What i meant was:

ROS1 side:

We shall drop the idea of maintaining a Gazebo version for ROS1 altogether. Instead we can keep a single ROS1 image based on Noetic, but if you think we need Gazebo support for noetic, we should stick with Gazebo Classic rather than Citadel.

• Gazebo Classic is much more widely supported by existing off-the-shelf packages.
• Citadel support might require extra effort to port or patch packages, which may not be worth it for ROS1 workflows.

ROS2 side:

Our current Humble image is using Gazebo Garden, which is already EOL. So, we should consider switching to Gazebo Fortress or Gazebo Harmonic.

This way we can have long term support for majority of the packages.What do you think?

[soham2560]

• For the compatibility of citadel, doesn't this mention that citadel is the reccomended for noetic from the new gazebo side, I am assuming it means it works out of the box, no patchwork required

• for ros2 side, have opened up an issue at Proposal for Gazebo Version Switch #15